{"id":85323,"date":"2026-08-18T14:38:08","date_gmt":"2026-08-18T05:38:08","guid":{"rendered":"https:\/\/www.creationline.com\/tech-blog\/?p=85323"},"modified":"2026-08-18T14:38:14","modified_gmt":"2026-08-18T05:38:14","slug":"ai%e3%82%a8%e3%83%bc%e3%82%b8%e3%82%a7%e3%83%b3%e3%83%88%e3%81%a7ros2%e3%82%92%e5%8b%95%e4%bd%9c%e3%81%95%e3%81%9b%e3%81%a6%e3%81%bf%e3%81%9f%e3%80%9c%ef%bc%91-slam-nav-2-gazebo-rviz-%e3%81%a8","status":"publish","type":"post","link":"https:\/\/www.creationline.com\/tech-blog\/chatgpt-ai\/ai-driven-dev\/85323","title":{"rendered":"AI\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u3067ROS2\u3092\u52d5\u4f5c\u3055\u305b\u3066\u307f\u305f\u301c\uff11.SLAM ,NAV 2 ,Gazebo ,Rviz \u3068\u306f\u301c"},"content":{"rendered":"\n\n

\u3053\u3093\u306b\u3061\u306f\u3001\u7af9\u5185 \u3067\u3059\u3002<\/p>\n\n\n\n

\u524d\u56de\u306f\u3001\u30ed\u30dc\u30c3\u30c8AI\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u3092\u4f5c\u308b\u305f\u3081\u306e\u571f\u53f0\u3068\u3057\u3066 ROS 2<\/mark><\/strong> \u3092\u52c9\u5f37\u3057\u307e\u3057\u305f\u3002\u30ce\u30fc\u30c9\u306b\u5206\u3051\u3066\u3001\u30c8\u30d4\u30c3\u30af\u3084\u30a2\u30af\u30b7\u30e7\u30f3\u3067\u7e4b\u3050\u2014\u2014\u3068\u3044\u3046\u3001\u3044\u308f\u3070\u914d\u7ba1\u306e\u4f5c\u6cd5<\/strong>\u306e\u8a71\u3067\u3059\u3002<\/p>\n\n\n\n

\u305f\u3060\u3001\u914d\u7ba1\u304c\u5206\u304b\u3063\u3066\u3082\u3001\u809d\u5fc3\u306e\u8d70\u3089\u305b\u308b\u5834\u6240\u3082\u3001\u307e\u308f\u308a\u3092\u898b\u308b\u76ee\u3082\u307e\u3060\u3042\u308a\u307e\u305b\u3093<\/strong>\u3002\u300c2\u30e1\u30fc\u30c8\u30eb\u524d\u9032\u300d\u3092 \/cmd_vel<\/code> \u306b\u5909\u3048\u3089\u308c\u305f\u3068\u3053\u308d\u3067\u3001\u305d\u306e\u5148\u306b\u58c1\u304c\u3042\u308b\u304b\u3069\u3046\u304b\u3092\u77e5\u308b\u624b\u6bb5\u304c\u7121\u3044\u306e\u3067\u3059\u3002<\/p>\n\n\n\n

\u305d\u3053\u304b\u3089\u5148\u306b\u9032\u3080\u306b\u306f\u3001ROS 2 \u3068\u307b\u307c\u30bb\u30c3\u30c8\u3067\u8a9e\u3089\u308c\u308b 4 \u3064\u306e\u9053\u5177\u3092\u77e5\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3057\u305f\u3002Gazebo\u30fbSLAM\u30fbNav2\u30fbRViz<\/strong> \u3067\u3059\u3002<\/p>\n\n\n\n

\u540d\u524d\u306f\u5168\u90e8\u3069\u3053\u304b\u3067\u898b\u305f\u3053\u3068\u304c\u3042\u3063\u305f\u306e\u3067\u3059\u304c\u3001\u6b63\u76f4\u3001\u6700\u521d\u306f\u3053\u306e4\u3064\u306e\u533a\u5225\u304c\u3064\u3044\u3066\u3044\u307e\u305b\u3093\u3067\u3057\u305f\u3002\u7279\u306b Gazebo \u3068 RViz<\/strong> \u306f\u3001\u3057\u3070\u3089\u304f\u540c\u3058\u3088\u3046\u306a\u3082\u306e\u3060\u3068\u601d\u3063\u3066\u3044\u307e\u3057\u305f\u2026\u2026\u3002<\/p>\n\n\n\n

\u4eca\u56de\u306f\u3001\u305d\u306e\u6574\u7406\u3092\u3057\u3066\u3044\u304d\u307e\u3059\u3002<\/p>\n\n\n\n

4\u3064\u306e\u9053\u5177\u306f\u3001\u5f79\u5272\u304c\u305c\u3093\u3076\u9055\u3046<\/h2>\n\n\n\n

\u7d30\u304b\u3044\u8a71\u306b\u5165\u308b\u524d\u306b\u3001\u307e\u305a\u5168\u4f53\u50cf\u304b\u3089\u3002\u3053\u306e4\u3064\u306f\u7af6\u5408\u3059\u308b\u3082\u306e\u3067\u306f\u306a\u304f\u3001\u305d\u308c\u305e\u308c\u5225\u306e\u4ed5\u4e8b\u3092\u3057\u3066\u3044\u3066\u3001\u4e00\u5217\u306b\u7e4b\u304c\u3063\u3066\u3044\u307e\u3059<\/strong>\u3002<\/p>\n\n\n\n

\n\n\n<\/marker>\n<\/marker>\n<\/defs>\n\nRViz<\/text>\n3\u3064\u306e\u4e2d\u8eab\u3092\u305c\u3093\u3076\u8997\u304f\uff08\u8868\u793a\u3059\u308b\u3060\u3051\uff09<\/text>\n\n\n\n\n<\/g>\n\nGazebo<\/text>\n\u4eee\u60f3\u306e\u4e16\u754c\uff0b\u7269\u7406<\/text>\n\u30bb\u30f3\u30b5\u3082\u3053\u3053\u3067\u4f5c\u308b<\/text>\n\n\/scan \/odom<\/text>\n\nSLAM<\/text>\n\u5730\u56f3\u3068\u73fe\u5728\u5730\u3092<\/text>\n\u540c\u6642\u306b\u4f5c\u308b<\/text>\n\n\u5730\u56f3\uff0b\u81ea\u5df1\u4f4d\u7f6e<\/text>\n\nNav2<\/text>\n\u30b4\u30fc\u30eb\u307e\u3067\u306e<\/text>\n\u52d5\u304d\u65b9\u3092\u6c7a\u3081\u308b<\/text>\n\n\/cmd_vel<\/text>\n\u52d5\u3044\u305f\u7d50\u679c\u307e\u305f\u65b0\u3057\u3044\u30bb\u30f3\u30b5\u5024\u304c\u51fa\u308b\u306e\u3067\u3001\u3053\u3053\u306f\u3050\u308b\u3050\u308b\u56de\u308a\u7d9a\u3051\u308b<\/text>\n\n<\/circle>\n<\/circle>\n<\/circle>\n<\/g>\n<\/svg>\n
\u56f31\uff1a4\u3064\u306e\u95a2\u4fc2\u3002Gazebo \u2192 SLAM \u2192 Nav2 \u2192 Gazebo \u3068\u4e00\u5468\u3057\u3001RViz \u3060\u3051\u304c\u305d\u306e\u8f2a\u306e\u5916\u306b\u3044\u308b<\/figcaption>\n<\/figure>\n\n\n\n

\u3072\u3068\u3053\u3068\u3067\u8a00\u3046\u3068\u3001\u3053\u3046\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n

    \n
  • Gazebo<\/mark><\/strong>\uff1a\u30ed\u30dc\u30c3\u30c8\u3092\u8d70\u3089\u305b\u308b\u5834\u6240<\/strong>\u3002\u4e16\u754c\u3068\u7269\u7406\u3068\u30bb\u30f3\u30b5\u3092\u4f5c\u308b\u3002<\/li>\n\n
  • SLAM<\/mark><\/strong>\uff1a\u5730\u56f3<\/strong>\u3092\u4f5c\u308b\u3002\u3064\u3044\u3067\u306b\u300c\u81ea\u5206\u304c\u5730\u56f3\u306e\u3069\u3053\u306b\u3044\u308b\u304b\u300d\u3082\u51fa\u3059\u3002<\/li>\n\n
  • Nav2<\/mark><\/strong>\uff1a\u5730\u56f3\u3068\u30b4\u30fc\u30eb\u3092\u53d7\u3051\u53d6\u3063\u3066\u3001\u5b9f\u969b\u306e\u901f\u5ea6\u6307\u4ee4<\/strong>\u307e\u3067\u843d\u3068\u3059\u3002<\/li>\n\n
  • RViz<\/mark><\/strong>\uff1a\u4e0a\u306e3\u3064\u304c\u4f55\u3092\u3057\u3066\u3044\u308b\u304b\u3092\u898b\u308b<\/strong>\u3002\u305d\u308c\u3060\u3051\u3002\u30ed\u30dc\u30c3\u30c8\u306f\u52d5\u304b\u3055\u306a\u3044\u3002<\/li>\n<\/ul>\n\n\n\n

    \u3053\u3053\u3092\u62bc\u3055\u3048\u3066\u304b\u3089\u500b\u5225\u306b\u898b\u3066\u3044\u304f\u3068\u3001\u3060\u3044\u3076\u8ff7\u5b50\u306b\u306a\u308a\u306b\u304f\u3044\u3067\u3059\u3002<\/p>\n\n\n\n

    Gazebo \u2014 \u4f55\u5ea6\u3067\u3082\u58ca\u305b\u308b\u3001\u4eee\u60f3\u306e\u5b9f\u9a13\u5ba4<\/h2>\n\n\n\n

    Gazebo \u306f\u30ed\u30dc\u30c3\u30c8\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30bf<\/strong>\u3067\u3059\u30023D \u306e\u4e16\u754c\u3092\u7528\u610f\u3057\u3066\u3001\u305d\u306e\u4e2d\u306b\u30ed\u30dc\u30c3\u30c8\u3092\u7f6e\u3044\u3066\u3001\u7269\u7406\u6cd5\u5247\u4ed8\u304d\u3067\u52d5\u304b\u3057\u3066\u304f\u308c\u307e\u3059\u3002<\/p>\n\n\n\n\n\n

    \"\"<\/figure>\n\n\n\n\n

    Gazebo \u306f\u300c\u7d75\u3092\u63cf\u3044\u3066\u3044\u308b\u300d\u3060\u3051\u3067\u306f\u3042\u308a\u307e\u305b\u3093\u3002\u91cd\u529b\u30fb\u6469\u64e6\u30fb\u885d\u7a81\u3092\u8a08\u7b97\u3057\u3001\u3055\u3089\u306b\u30bb\u30f3\u30b5\u306e\u5024\u307e\u3067\u4f5c\u3063\u3066 ROS 2 \u306e\u30c8\u30d4\u30c3\u30af\u306b\u6d41\u3057\u3066\u304f\u308c\u307e\u3059<\/mark><\/strong>\u3002<\/p>\n\n\n\n

    \u3064\u307e\u308a ROS 2 \u5074\u304b\u3089\u898b\u308b\u3068\u3001Gazebo \u306e\u4e2d\u306e\u30ed\u30dc\u30c3\u30c8\u306f\u5b9f\u6a5f\u3068\u307b\u307c\u540c\u3058\u9854\u3092\u3057\u3066\u3044\u307e\u3059<\/strong>\u3002\/scan<\/code> \u3092\u8cfc\u8aad\u3057\u3066 \/cmd_vel<\/code> \u3092\u51fa\u3059\u3001\u3068\u3044\u3046\u95a2\u4fc2\u306f\u5168\u304f\u5909\u308f\u308a\u307e\u305b\u3093\u3002<\/p>\n\n\n\n

    \n\n<\/marker><\/defs>\n\nGazebo<\/text>\n\n\u30ef\u30fc\u30eb\u30c9<\/text>\n\u5e8a\u30fb\u58c1\u30fb\u68da\u30fb\u969c\u5bb3\u7269<\/text>\n\n\u30ed\u30dc\u30c3\u30c8\u306e\u30e2\u30c7\u30eb<\/text>\n\u5f62\u30fb\u91cd\u3055\u30fb\u8eca\u8f2a\u306e\u4ed8\u304d\u65b9<\/text>\n\n\u7269\u7406\u30a8\u30f3\u30b8\u30f3<\/text>\n\u91cd\u529b\u30fb\u6469\u64e6\u30fb\u885d\u7a81<\/text>\n\n\u30bb\u30f3\u30b5<\/text>\nLiDAR\u30fb\u30ab\u30e1\u30e9\u30fbIMU<\/text>\n\n\/scan \/odom<\/text>\n\n\/cmd_vel<\/text>\n\nROS 2 \u306e\u30ce\u30fc\u30c9\u305f\u3061<\/text>\n\u5b9f\u6a5f\u304bGazebo\u304b\u306f<\/text>\n\u3053\u3061\u3089\u304b\u3089\u306f\u5206\u304b\u3089\u306a\u3044<\/text>\n\n<\/circle>\n<\/circle>\n<\/g>\n\n\n\n<\/circle>\n<\/svg>\n
    \u56f33\uff1aGazebo \u306e\u4e2d\u8eab\u3002\u5916\u306b\u51fa\u3066\u3044\u304f\u306e\u306f\u5b9f\u6a5f\u3068\u540c\u3058\u30c8\u30d4\u30c3\u30af\u306a\u306e\u3067\u3001\u4e0a\u4f4d\u306e\u30ce\u30fc\u30c9\u306f\u66f8\u304d\u63db\u3048\u305a\u306b\u6e08\u3080<\/figcaption>\n<\/figure>\n\n\n\n

    \u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u306e\u5229\u70b9\u306f\u3001\u5931\u6557\u3067\u304d\u308b\u3053\u3068\u3067\u3059\u3002\u5b9f\u6a5f\u3060\u3068\u3001\u58c1\u306b\u7a81\u3063\u8fbc\u3081\u3070\u672c\u5f53\u306b\u58ca\u308c\u307e\u3059\u3057\u30011\u56de\u8a66\u3059\u306e\u306b\u673a\u307e\u3067\u6b69\u3044\u3066\u884c\u3063\u3066\u5145\u96fb\u3057\u3066\u2026\u2026\u3068\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n

    \u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u306a\u3089\u540c\u3058\u5931\u6557\u3092100\u56de\u3067\u3082\u518d\u73fe\u3067\u304d\u307e\u3059<\/strong>\u3002AI\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u306e\u3088\u3046\u306b\u300c\u3069\u3046\u52d5\u304f\u304b\u4e8b\u524d\u306b\u8aad\u307f\u5207\u308c\u306a\u3044\u300d\u3082\u306e\u3092\u8a66\u3059\u3068\u304d\u306f\u3001\u3053\u3053\u304c\u304b\u306a\u308a\u5927\u304d\u3044\u3067\u3059\u3002<\/p>\n\n\n\n

    \n

    \u3053\u3053\u3067\u6700\u521d\u306b\u30cf\u30de\u3063\u305f\u306e\u304c Gazebo \u304c2\u7a2e\u985e\u3042\u308b<\/mark><\/strong>\u554f\u984c\u3067\u3059\u3002\u53e4\u3044\u300cGazebo Classic\u300d\u3068\u3001\u65b0\u3057\u3044 Gazebo\uff08Harmonic \u306a\u3069\uff09\u306f\u5225\u7269<\/strong>\u3067\u3001\u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb\u3082\u8d77\u52d5\u30b3\u30de\u30f3\u30c9\u3082\u9023\u643a\u7528\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u540d\u3082\u9055\u3044\u307e\u3059\u3002<\/p>\n\n\n\n

    \u30cd\u30c3\u30c8\u306e\u8a18\u4e8b\u304c\u3069\u3061\u3089\u306e\u8a71\u3092\u3057\u3066\u3044\u308b\u306e\u304b\u5206\u304b\u3089\u306a\u3044\u307e\u307e\u771f\u4f3c\u3057\u3066\u3001\u52d5\u304b\u306a\u3044\u7406\u7531\u304c\u5206\u304b\u3089\u305a\u2026\u2026\u3051\u3063\u3053\u3046\u6642\u9593\u3092\u6eb6\u304b\u3057\u307e\u3057\u305f\u3002\u691c\u7d22\u3057\u3066\u51fa\u3066\u304d\u305f\u624b\u9806\u306f\u3001\u307e\u305a\u3069\u3061\u3089\u306e Gazebo \u5411\u3051\u304b\u78ba\u8a8d\u3059\u308b<\/strong>\u306e\u304c\u304a\u3059\u3059\u3081\u3067\u3059\u3002<\/p>\n<\/div><\/div>\n\n\n\n

    \u3069\u306e\u304f\u3089\u3044\u5225\u7269\u306a\u306e\u304b\u3068\u3044\u3046\u3068\u3001\u3053\u306e\u304f\u3089\u3044\u3067\u3059\u3002<\/p>\n\n\n\n

    \n\n\n\n\u65e7<\/text>\nGazebo Classic<\/text>\nGazebo 11 \u304c\u6700\u5f8c\u30022025\u5e741\u6708\u3067\u30b5\u30dd\u30fc\u30c8\u7d42\u4e86<\/text>\n\n\u8d77\u52d5\u30b3\u30de\u30f3\u30c9<\/text>\ngazebo<\/text>\nROS 2 \u9023\u643a<\/text>\ngazebo_ros_pkgs<\/text>\n\u30d7\u30e9\u30b0\u30a4\u30f3\u540d<\/text>\nlibgazebo_ros_*<\/text>\n≠<\/text>\n\u5225\u7269<\/text>\n\n\n\u65b0<\/text>\nGazebo\uff08\u65b0\uff09<\/text>\n\u65e7 Ignition\u3002Fortress \/ Garden \/ Harmonic \u2026<\/text>\n\n\u8d77\u52d5\u30b3\u30de\u30f3\u30c9<\/text>\ngz sim<\/text>\nROS 2 \u9023\u643a<\/text>\nros_gz<\/text>\n\u30d7\u30e9\u30b0\u30a4\u30f3\u540d<\/text>\ngz-sim-*<\/text>\n\u540c\u3058\u300cGazebo\u300d\u3067\u3082\u3001\u6253\u3064\u30b3\u30de\u30f3\u30c9\u304b\u3089\u5165\u308c\u308b\u30d1\u30c3\u30b1\u30fc\u30b8\u307e\u3067\u5168\u90e8\u3061\u304c\u3046<\/text>\n<\/svg>\n
    \u56f34\uff1a\u65b0\u65e7 Gazebo \u306e\u9055\u3044\u3002\u624b\u9806\u3092\u771f\u4f3c\u308b\u524d\u306b\u3001\u307e\u305a\u3069\u3061\u3089\u306e\u8a71\u304b\u3092\u898b\u5206\u3051\u308b<\/figcaption>\n<\/figure>\n\n\n\n

    \u3082\u30461\u3064\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u306a\u3089\u3067\u306f\u306e\u6ce8\u610f\u70b9\u3068\u3057\u3066\u6642\u523b<\/strong>\u304c\u3042\u308a\u307e\u3059\u3002Gazebo \u306e\u4e2d\u306e\u6642\u9593\u306f\u3001\u5b9f\u969b\u306e\u6642\u8a08\u3088\u308a\u901f\u304b\u3063\u305f\u308a\u9045\u304b\u3063\u305f\u308a\u3057\u307e\u3059\u3002<\/p>\n\n\n\n

    \u305d\u3053\u3067\u5404\u30ce\u30fc\u30c9\u306b use_sim_time<\/code> \u3092\u7acb\u3066\u3066\u3001\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u304c\u914d\u4fe1\u3059\u308b\u6642\u523b\u3092\u4f7f\u308f\u305b\u307e\u3059\u3002\u3053\u308c\u3092\u5fd8\u308c\u308b\u3068\u30bb\u30f3\u30b5\u5024\u3068\u4f4d\u7f6e\u306e\u6642\u523b\u304c\u30ba\u30ec\u3066\u3001\u5730\u56f3\u304c\u3050\u3061\u3083\u3050\u3061\u3083\u306b\u306a\u308a\u307e\u3059<\/strong>\u3002<\/p>\n\n\n\n

    SLAM \u2014 \u5730\u56f3\u3068\u73fe\u5728\u5730\u3092\u3001\u540c\u6642\u306b\u4f5c\u308b<\/h2>\n\n\n\n

    SLAM \u306f Simultaneous Localization and Mapping \u306e\u7565\u3067\u3001\u65e5\u672c\u8a9e\u3060\u3068\u300c\u81ea\u5df1\u4f4d\u7f6e\u63a8\u5b9a\u3068\u5730\u56f3\u4f5c\u6210\u306e\u540c\u6642\u5b9f\u884c\u300d\u3067\u3059\u3002\u540d\u524d\u306e\u3068\u304a\u308a\u3067\u3059\u3002<\/p>\n\n\n\n

    \u306a\u305c\u300c\u540c\u6642\u300d\u304c\u554f\u984c\u306b\u306a\u308b\u306e\u304b\u3002\u5730\u56f3\u304c\u7121\u3044\u3068\u81ea\u5206\u306e\u4f4d\u7f6e\u304c\u5206\u304b\u3089\u305a\u3001\u81ea\u5206\u306e\u4f4d\u7f6e\u304c\u5206\u304b\u3089\u306a\u3044\u3068\u5730\u56f3\u304c\u63cf\u3051\u306a\u3044<\/mark><\/strong>\u3068\u3044\u3046\u3001\u9d8f\u3068\u5375\u306e\u95a2\u4fc2\u306b\u306a\u3063\u3066\u3044\u308b\u304b\u3089\u3067\u3059\u3002<\/p>\n\n\n\n

    SLAM \u306f\u3053\u308c\u3092\u3001\u5c11\u3057\u305a\u3064\u4ea4\u4e92\u306b\u9032\u3081\u308b\u3053\u3068\u3067\u89e3\u304d\u307e\u3059\u3002<\/p>\n\n\n\n

    \n\n<\/marker><\/defs>\n\n\n1<\/text>\n\u307e\u308f\u308a\u3092\u6e2c\u308b<\/text>\nLiDAR \u30671\u5468\u30b9\u30ad\u30e3\u30f3<\/text>\n<\/g>\n\n\n\n2<\/text>\n\u524d\u306e\u7d75\u3068\u91cd\u306d\u308b<\/text>\n\u4e00\u756a\u3074\u3063\u305f\u308a\u5408\u3046\u4f4d\u7f6e\u3092\u63a2\u3059<\/text>\n<\/g>\n\n\n\n3<\/text>\n\u73fe\u5728\u5730\u3092\u76f4\u3059<\/text>\n\u30ba\u30ec\u305f\u5206\u3060\u3051\u81ea\u5df1\u4f4d\u7f6e\u3092\u88dc\u6b63<\/text>\n<\/g>\n\n\n\n4<\/text>\n\u5730\u56f3\u306b\u63cf\u304d\u8db3\u3059<\/text>\n\u65b0\u3057\u304f\u898b\u3048\u305f\u6240\u3092\u57cb\u3081\u308b<\/text>\n<\/g>\n\n\u5c11\u3057\u9032\u3093\u3067\u3001\u307e\u305f 1 \u3078<\/text>\n1\u5468\u3054\u3068\u306e\u88dc\u6b63\u306f\u3054\u304f\u5c0f\u3055\u3044\u3002\u305d\u308c\u3092\u4f55\u767e\u56de\u3082\u7a4d\u307f\u91cd\u306d\u3066\u5730\u56f3\u306b\u306a\u308b<\/text>\n\n\n<\/rect>\n\n<\/rect>\n\n<\/rect>\n\n<\/rect>\n<\/g>\n<\/svg>\n
    \u56f35\uff1aSLAM \u306e\u30eb\u30fc\u30d7\u3002\u300c\u6e2c\u308b \u2192 \u91cd\u306d\u308b \u2192 \u4f4d\u7f6e\u3092\u76f4\u3059 \u2192 \u5730\u56f3\u3092\u8db3\u3059\u300d\u3092\u3072\u305f\u3059\u3089\u7e70\u308a\u8fd4\u3059<\/figcaption>\n<\/figure>\n\n\n\n

    \u3084\u3063\u3066\u3044\u308b\u3053\u3068\u306f\u9593\u9055\u3044\u63a2\u3057<\/strong>\u3067\u3059\u3002\u3055\u3063\u304d\u898b\u305f\u666f\u8272\u3068\u4eca\u898b\u3048\u3066\u3044\u308b\u666f\u8272\u3092\u91cd\u306d\u3066\u3001\u4e00\u756a\u3074\u3063\u305f\u308a\u5408\u3046\u4f4d\u7f6e\u306e\u305a\u308c\u304c\u3001\u81ea\u5206\u304c\u52d5\u3044\u305f\u91cf\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n

    \u305d\u3057\u3066 SLAM \u304c\u5410\u304d\u51fa\u3059\u5730\u56f3\u306f\u3001\u5199\u771f\u3067\u306f\u3042\u308a\u307e\u305b\u3093\u3002\u30de\u30b9\u76ee\u306b\u533a\u5207\u3063\u3066\u30011\u30de\u30b9\u305a\u3064\u300c\u901a\u308c\u308b\uff0f\u58c1\uff0f\u307e\u3060\u77e5\u3089\u306a\u3044\u300d\u3092\u6301\u3064\u3060\u3051\u306e\u5730\u56f3<\/mark><\/strong>\u3067\u3059\u3002\u5360\u6709\u683c\u5b50\u5730\u56f3\u3068\u547c\u3070\u308c\u307e\u3059\u3002<\/p>\n\n\n\n

    \n\n<\/pattern><\/defs>\n\n\n\n\n\n<\/g>\n\n\u68da<\/text>\n\n\n\n\n\n\n<\/line>\n\n\n\n<\/circle>\n<\/g>\n\u30ed\u30dc\u30c3\u30c8<\/text>\n<\/g>\n\n\u767d \uff1d \u901a\u308c\u308b<\/text>\n\u30bb\u30f3\u30b5\u304c\u5c4a\u3044\u3066\u3001\u4f55\u3082\u7121\u304b\u3063\u305f\u6240<\/text>\n\n\u9ed2 \uff1d \u58c1<\/text>\n\u30bb\u30f3\u30b5\u304c\u8df3\u306d\u8fd4\u3063\u3066\u304d\u305f\u6240<\/text>\n\n\u7070 \uff1d \u672a\u77e5<\/text>\n\u307e\u3060\u4e00\u5ea6\u3082\u898b\u3066\u3044\u306a\u3044\u6240<\/text>\n<\/svg>\n
    \u56f36\uff1a\u5360\u6709\u683c\u5b50\u5730\u56f3\u3002\u30ed\u30dc\u30c3\u30c8\u306b\u3068\u3063\u3066\u306e\u4e16\u754c\u306f\u3001\u3053\u306e3\u7a2e\u985e\u306e\u30de\u30b9\u76ee\u3067\u3057\u304b\u306a\u3044<\/figcaption>\n<\/figure>\n\n\n\n

    \u300c\u672a\u77e5\u300d\u3068\u3044\u3046\u30de\u30b9\u304c\u72ec\u7acb\u3057\u3066\u3042\u308a\u307e\u3059\u3002\u901a\u308c\u306a\u3044\u304b\u3089\u7070\u8272\u306a\u306e\u3067\u306f\u306a\u304f\u3001\u307e\u3060\u898b\u3066\u3044\u306a\u3044\u304b\u3089\u7070\u8272<\/strong>\u3067\u3059\u3002\u3060\u304b\u3089\u30ed\u30dc\u30c3\u30c8\u306f\u3001\u7070\u8272\u3092\u6e1b\u3089\u3059\u305f\u3081\u306b\u308f\u3056\u308f\u3056\u63a2\u7d22\u3057\u306b\u884c\u3063\u305f\u308a\u3057\u307e\u3059\u3002<\/p>\n\n\n\n

    \n

    \u79c1\u304c\u52d8\u9055\u3044\u3057\u3066\u3044\u305f\u306e\u3067\u3059\u304c\u3001SLAM \u306f\u6bce\u56de\u52d5\u304b\u3059\u3082\u306e\u3067\u306f\u3042\u308a\u307e\u305b\u3093<\/strong>\u3002\u4e00\u5ea6\u304d\u308c\u3044\u306a\u5730\u56f3\u304c\u4f5c\u308c\u305f\u3089\u3001\u305d\u308c\u3092\u4fdd\u5b58\u3057\u3066\u304a\u3044\u3066\u6b21\u304b\u3089\u306f\u8aad\u307f\u8fbc\u3080\u3060\u3051\u3067\u6e08\u307f\u307e\u3059\u3002<\/p>\n\n\n\n

    \u30c7\u30e2\u3092\u4f55\u5ea6\u3082\u56de\u3059\u3068\u304d\u306f\u3001\u3053\u306e\u300c\u4f5c\u308b\u300d\u3068\u300c\u4f7f\u3046\u300d\u3092\u5206\u3051\u3066\u304a\u304f\u3068\u3001\u6bce\u56de\u540c\u3058\u6761\u4ef6\u3067\u518d\u73fe\u3067\u304d\u3066\u697d\u3067\u3057\u305f\u3002<\/p>\n<\/div><\/div>\n\n\n\n

    \u4fdd\u5b58\u306f\u30b3\u30de\u30f3\u30c91\u672c\u3067\u3059\u3002\u5730\u56f3\u306e\u753b\u50cf\uff08.pgm<\/code>\uff09\u3068\u3001\u7e2e\u5c3a\u306a\u3069\u3092\u66f8\u3044\u305f\u8a2d\u5b9a\uff08.yaml<\/code>\uff09\u306e2\u30d5\u30a1\u30a4\u30eb\u304c\u51fa\u3066\u304d\u307e\u3059\u3002<\/p>\n\n\n\n

    # \u8d70\u308a\u7d42\u308f\u3063\u305f\u3042\u3068\u3001\u305d\u306e\u6642\u70b9\u306e\u5730\u56f3\u3092\u4fdd\u5b58\u3059\u308b\nros2 run nav2_map_server map_saver_cli -f my_map<\/code><\/pre>\n\n\n\n
    Nav2 \u2014 \u300c\u3042\u305d\u3053\u3078\u884c\u3063\u3066\u300d\u3092\u8eca\u8f2a\u306e\u56de\u8ee2\u306b\u5909\u3048\u308b<\/h2>\n\n\n\n
    \u5730\u56f3\u304c\u3067\u304d\u3066\u3001\u81ea\u5206\u306e\u4f4d\u7f6e\u3082\u5206\u304b\u3063\u305f\u3002\u6b21\u306f\u76ee\u7684\u5730\u307e\u3067\u5b9f\u969b\u306b\u79fb\u52d5\u3059\u308b<\/strong>\u5f79\u3067\u3059\u3002\u3053\u308c\u3092\u4e38\u3054\u3068\u5f15\u304d\u53d7\u3051\u3066\u304f\u308c\u308b\u306e\u304c Nav2\uff08Navigation 2\uff09\u3067\u3059\u3002<\/p>\n\n\n\n
    Nav2 \u306f\u3001\u3053\u306e\u554f\u984c\u30922\u6bb5\u69cb\u3048<\/mark><\/strong>\u3067\u89e3\u304d\u307e\u3059\u3002<\/p>\n\n\n\n
    \n\n<\/marker>\n<\/marker><\/defs>\n\n\u30b4\u30fc\u30eb<\/text>\nx, y, \u5411\u304d<\/text>\n\n\n\u30b0\u30ed\u30fc\u30d0\u30eb\u30d7\u30e9\u30f3\u30ca<\/text>\n\u5730\u56f3\u305c\u3093\u3076\u3092\u898b\u3066<\/text>\n\u30b4\u30fc\u30eb\u307e\u3067\u306e\u7dda\u30921\u672c\u5f15\u304f<\/text>\n\n\u7d4c\u8def<\/text>\n\n\u30ed\u30fc\u30ab\u30eb\u30d7\u30e9\u30f3\u30ca<\/text>\n\u6570\u79d2\u5148\u3060\u3051\u3092\u898b\u3066<\/text>\n\u4eca\u51fa\u3059\u901f\u5ea6\u3092\u6c7a\u3081\u308b<\/text>\n\n\n\/cmd_vel<\/text>\n\n\n\n<\/g>\n\n\u30b3\u30b9\u30c8\u30de\u30c3\u30d7<\/text>\n\u58c1\u3092\u592a\u3089\u305b\u3066\u4f59\u767d\u3092\u4f5c\u308b<\/text>\n\n\u30ea\u30ab\u30d0\u30ea\u884c\u52d5<\/text>\n\u8a70\u307e\u3063\u305f\u3089\u56de\u308b\u30fb\u4e0b\u304c\u308b<\/text>\n<\/svg>\n
    \u56f37\uff1aNav2 \u306e2\u6bb5\u69cb\u3048\u3002\u5927\u307e\u304b\u306a\u7d4c\u8def\u3068\u3001\u76ee\u306e\u524d\u306e\u56de\u907f\u3092\u3001\u5225\u3005\u306e\u62c5\u5f53\u304c\u53d7\u3051\u6301\u3064<\/figcaption>\n<\/figure>\n\n\n\n
    \u5148\u306b\u30b0\u30ed\u30fc\u30d0\u30eb\u30d7\u30e9\u30f3\u30ca<\/strong>\u304c\u3001\u4fdd\u5b58\u3057\u305f\u5730\u56f3\u306e\u4e0a\u3067\u300c\u3060\u3044\u305f\u3044\u3053\u306e\u30eb\u30fc\u30c8\u300d\u30921\u672c\u5f15\u304d\u307e\u3059\u3002\u30ab\u30fc\u30ca\u30d3\u304c\u51fa\u767a\u524d\u306b\u7d4c\u8def\u3092\u51fa\u3059\u306e\u3068\u540c\u3058\u30a4\u30e1\u30fc\u30b8\u3067\u3059\u3002<\/p>\n\n\n\n
    \u305f\u3060\u3001\u5730\u56f3\u306b\u306f\u8f09\u3063\u3066\u3044\u306a\u3044\u3082\u306e\u2014\u2014\u7f6e\u304d\u3063\u3071\u306a\u3057\u306e\u6bb5\u30dc\u30fc\u30eb\u3001\u6b69\u3044\u3066\u3044\u308b\u4eba\u2014\u2014\u304c\u5fc5\u305a\u3042\u308a\u307e\u3059\u3002\u305d\u3053\u3067\u30ed\u30fc\u30ab\u30eb\u30d7\u30e9\u30f3\u30ca<\/strong>\u304c\u3001\u6570\u79d2\u5148\u3060\u3051\u3092\u898b\u3066\u5b9f\u969b\u306e\u901f\u5ea6\u3092\u7d30\u304b\u304f\u6c7a\u3081\u76f4\u3057\u307e\u3059\u3002<\/p>\n\n\n\n
    \u3053\u306e2\u3064\u3092\u652f\u3048\u3066\u3044\u308b\u306e\u304c\u30b3\u30b9\u30c8\u30de\u30c3\u30d7<\/strong>\u3067\u3059\u3002\u58c1\u306e\u30de\u30b9\u3092\u5b9f\u969b\u3088\u308a\u5c11\u3057\u592a\u3089\u305b\u3066\u304a\u304f\u3053\u3068\u3067\u3001\u300c\u901a\u308c\u308b\u3051\u3069\u30ae\u30ea\u30ae\u30ea\u3059\u304e\u308b\u9053\u300d\u3092\u81ea\u7136\u306b\u907f\u3051\u3055\u305b\u307e\u3059<\/mark><\/strong>\u3002<\/p>\n\n\n\n
    \u305d\u308c\u3067\u3082\u8a70\u307e\u308b\u3053\u3068\u306f\u3042\u308a\u307e\u3059\u3002\u305d\u306e\u3068\u304d\u306f\u30ea\u30ab\u30d0\u30ea\u884c\u52d5<\/strong>\u2014\u2014\u305d\u306e\u5834\u3067\u4e00\u56de\u8ee2\u3057\u3066\u307f\u308b\u3001\u5c11\u3057\u4e0b\u304c\u308b\u3001\u53e4\u3044\u30b3\u30b9\u30c8\u30de\u30c3\u30d7\u3092\u6368\u3066\u308b\u2014\u2014\u3092\u9806\u756a\u306b\u8a66\u3057\u3066\u3001\u81ea\u529b\u3067\u5fa9\u5e30\u3057\u3088\u3046\u3068\u3057\u307e\u3059\u3002<\/p>\n\n\n\n
    \n
    \u524d\u56de\u306e\u8a71\u304c\u3053\u3053\u3067\u7e4b\u304c\u308a\u307e\u3059\u3002Nav2 \u3078\u306e\u30b4\u30fc\u30eb\u6307\u793a\u306f\u3001\u30c8\u30d4\u30c3\u30af\u3067\u3082\u30b5\u30fc\u30d3\u30b9\u3067\u3082\u306a\u304f \u30a2\u30af\u30b7\u30e7\u30f3<\/mark><\/strong>\uff08NavigateToPose<\/code>\uff09\u3067\u3059\u3002<\/p>\n\n\n\n
    \u79fb\u52d5\u306f\u6570\u5341\u79d2\u304b\u304b\u308a\u3001\u9014\u4e2d\u7d4c\u904e\u3092\u77e5\u308a\u305f\u304f\u3066\u3001\u3057\u304b\u3082\u9014\u4e2d\u3067\u3084\u3081\u305f\u304f\u306a\u308b<\/strong>\u2014\u2014\u307e\u3055\u306b\u30a2\u30af\u30b7\u30e7\u30f3\u3092\u4f7f\u3046\u3079\u304d\u5834\u9762\u3067\u3057\u305f\u3002\u300c\u306a\u305c4\u7a2e\u985e\u3042\u308b\u306e\u304b\u300d\u304c\u3001\u5b9f\u7269\u3092\u898b\u3066\u3088\u3046\u3084\u304f\u5206\u304b\u308a\u307e\u3057\u305f\u3002<\/p>\n<\/div><\/div>\n\n\n\n
    \u30b3\u30de\u30f3\u30c9\u304b\u3089\u76f4\u63a5\u30b4\u30fc\u30eb\u3092\u6295\u3052\u308b\u3053\u3068\u3082\u3067\u304d\u307e\u3059\u3002map<\/code> \u5ea7\u6a19\u7cfb\u306e (2.0, 1.0) \u3078\u884c\u3051\u3001\u3068\u3044\u3046\u6307\u793a\u3067\u3059\u3002<\/p>\n\n\n\n
    ros2 action send_goal \/navigate_to_pose \\\n  nav2_msgs\/action\/NavigateToPose \\\n  \"{pose: {header: {frame_id: 'map'},\n           pose: {position: {x: 2.0, y: 1.0}}}}\"<\/code><\/pre>\n\n\n\n
    RViz \u2014 \u30ed\u30dc\u30c3\u30c8\u306e\u982d\u306e\u4e2d\u3092\u6620\u3059\u30e2\u30cb\u30bf<\/h2>\n\n\n\n
    \u6700\u5f8c\u304c RViz \u3067\u3059\u3002\u5192\u982d\u306b\u66f8\u3044\u305f\u3068\u304a\u308a\u3001\u79c1\u304c Gazebo \u3068\u6df7\u540c\u3057\u3066\u3044\u305f\u306e\u304c\u3053\u308c\u3067\u3059\u3002<\/p>\n\n\n\n
    \u3069\u3061\u3089\u3082 3D \u306e\u30ed\u30dc\u30c3\u30c8\u304c\u8868\u793a\u3055\u308c\u308b\u306e\u3067\u3001Gazebo \u3068 RViz \u306f\u4f3c\u305f\u3088\u3046\u306a\u3082\u306e\u306b\u898b\u3048\u307e\u3059\u3002\u3067\u3082\u5f79\u5272\u306f\u6b63\u53cd\u5bfe\u3067\u3057\u305f\u3002<\/p>\n\n\n\n
    \n\n\n\n\nGazebo \uff1d \u5b9f\u969b\u306b\u8d77\u304d\u3066\u3044\u308b\u3053\u3068<\/text>\n\n\n\u6bb5\u30dc\u30fc\u30eb\uff08\u5b9f\u7269\uff09<\/text>\n\n\u30ed\u30dc\u30c3\u30c8\uff08\u5b9f\u7269\uff09<\/text>\n\u7269\u7406\u3082\u885d\u7a81\u3082\u3053\u3053\u3067\u8d77\u304d\u308b<\/text>\n\n\n\nRViz \uff1d \u30ed\u30dc\u30c3\u30c8\u304c\u5206\u304b\u3063\u3066\u3044\u308b\u3053\u3068<\/text>\n\n\n<\/circle>\n<\/circle>\n<\/circle>\n<\/circle>\n<\/circle>\n<\/circle>\n<\/circle>\n<\/circle>\n<\/circle>\n<\/circle>\n<\/g>\nLiDAR \u304c\u5f53\u305f\u3063\u305f\u70b9\u3060\u3051<\/text>\n\n\n\u63a8\u5b9a\u3057\u305f\u81ea\u5206\u306e\u4f4d\u7f6e<\/text>\n\u9ec4\u8272 \uff1d \u5f15\u3044\u305f\u7d4c\u8def<\/text>\n\u3053\u3053\u3067\u4f55\u3092\u3057\u3066\u3082\u3001\u30ed\u30dc\u30c3\u30c8\u306f\u52d5\u304b\u306a\u3044<\/text>\n\u540c\u3058\u5834\u9762\u3067\u3082\u3001\u898b\u3048\u3066\u3044\u308b\u3082\u306e\u304c\u9055\u3046\u3002\u30ba\u30ec\u3066\u3044\u305f\u3089\u3001\u305d\u308c\u304c\u30d0\u30b0<\/text>\n<\/svg>\n
    \u56f38\uff1aGazebo \u306f\u4e16\u754c\u305d\u306e\u3082\u306e\u3001RViz \u306f\u30ed\u30dc\u30c3\u30c8\u306e\u8a8d\u8b58\u3002\u4e21\u65b9\u3092\u4e26\u3079\u3066\u898b\u308b\u306e\u304c\u30c7\u30d0\u30c3\u30b0\u306e\u57fa\u672c<\/figcaption>\n<\/figure>\n\n\n\n
    RViz \u306f ROS 2 \u306e\u30c8\u30d4\u30c3\u30af\u3092\u8cfc\u8aad\u3057\u3066\u3001\u305d\u308c\u3092\u7d75\u306b\u3059\u308b\u3060\u3051\u306e\u30d3\u30e5\u30fc\u30a2<\/mark><\/strong>\u3067\u3059\u3002\u4e16\u754c\u3092\u4f5c\u3089\u306a\u3044\u3057\u3001\u7269\u7406\u3082\u8a08\u7b97\u3057\u306a\u3044\u3057\u3001\u30ed\u30dc\u30c3\u30c8\u3092\u52d5\u304b\u3057\u3082\u3057\u307e\u305b\u3093\u3002<\/p>\n\n\n\n
    \u9006\u306b\u8a00\u3046\u3068\u3001RViz \u306b\u6620\u3063\u3066\u3044\u308b\u3082\u306e\u306f\u5168\u90e8\u30ed\u30dc\u30c3\u30c8\u304c\u5b9f\u969b\u306b\u53d7\u3051\u53d6\u3063\u305f\uff0f\u8a08\u7b97\u3057\u305f\u30c7\u30fc\u30bf<\/strong>\u3067\u3059\u3002\u3060\u304b\u3089\u3001\u3053\u3053\u304c\u5b9f\u7269\u3068\u30ba\u30ec\u3066\u3044\u305f\u3089\u3001\u305d\u306e\u30ba\u30ec\u304c\u305d\u306e\u307e\u307e\u30d0\u30b0\u3068\u3044\u3046\u3053\u3068\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n
    \u3053\u306e\u6027\u8cea\u306e\u304a\u304b\u3052\u3067\u3001RViz \u306f\u30c7\u30d0\u30c3\u30b0\u306e\u4e3b\u6226\u5834\u306b\u306a\u308a\u307e\u3059\u3002\u79c1\u304c\u3088\u304f\u898b\u3066\u3044\u308b\u306e\u306f\u3053\u306e\u3042\u305f\u308a\u3067\u3059\u3002<\/p>\n\n\n\n
      \n
    • LiDAR \u306e\u70b9\u7fa4<\/strong>\u304c\u3001\u58c1\u306e\u4f4d\u7f6e\u3068\u3061\u3083\u3093\u3068\u91cd\u306a\u3063\u3066\u3044\u308b\u304b\u3002\u30ba\u30ec\u3066\u3044\u305f\u3089\u5ea7\u6a19\u5909\u63db\u304c\u602a\u3057\u3044\u3002<\/li>\n\n
    • \u30b3\u30b9\u30c8\u30de\u30c3\u30d7<\/strong>\u306e\u81a8\u3089\u307f\u5177\u5408\u3002\u592a\u3089\u305b\u3059\u304e\u308b\u3068\u3001\u901a\u308c\u308b\u306f\u305a\u306e\u901a\u8def\u304c\u585e\u304c\u308b\u3002<\/li>\n\n
    • \u5f15\u304b\u308c\u305f\u7d4c\u8def<\/strong>\u304c\u3001\u305d\u3082\u305d\u3082\u610f\u56f3\u3057\u305f\u65b9\u5411\u3092\u5411\u3044\u3066\u3044\u308b\u304b\u3002<\/li>\n<\/ul>\n\n\n\n
      \n
      RViz \u3067\u3088\u304f\u3042\u308b\u300c\u4f55\u3082\u8868\u793a\u3055\u308c\u306a\u3044\u300d\u306f\u3001\u305f\u3044\u3066\u3044\u58ca\u308c\u3066\u3044\u308b\u308f\u3051\u3067\u306f\u3042\u308a\u307e\u305b\u3093\u3002\u57fa\u6e96\u306b\u3059\u308b\u5ea7\u6a19\u7cfb\uff08Fixed Frame\uff09\u306e\u9078\u3073\u9593\u9055\u3044<\/mark><\/strong>\u304c\u72af\u4eba\u3067\u3042\u308b\u3053\u3068\u304c\u591a\u304b\u3063\u305f\u3067\u3059\u3002<\/p>\n\n\n\n
      \u5730\u56f3\u3092\u898b\u305f\u3044\u306e\u306b base_link<\/code>\uff08\u30ed\u30dc\u30c3\u30c8\u81ea\u8eab\uff09\u3092\u57fa\u6e96\u306b\u3057\u3066\u3044\u308b\u3068\u3001\u30ed\u30dc\u30c3\u30c8\u306f\u5e38\u306b\u753b\u9762\u4e2d\u592e\u304b\u3089\u52d5\u304b\u305a\u3001\u5730\u56f3\u306e\u65b9\u304c\u3050\u308b\u3050\u308b\u56de\u308a\u307e\u3059\u3002\u5730\u56f3\u3092\u898b\u308b\u3068\u304d\u306f map<\/code> \u306b\u3057\u307e\u3059\u3002<\/p>\n<\/div><\/div>\n\n\n\n
      \u3053\u306e4\u3064\u306f\u3001ROS 2 \u306e\u3069\u3053\u3067\u7e4b\u304c\u3063\u3066\u3044\u308b\u306e\u304b<\/h2>\n\n\n\n
      \u3053\u3053\u307e\u30674\u3064\u3092\u5225\u3005\u306b\u898b\u3066\u304d\u307e\u3057\u305f\u304c\u3001\u5b9f\u969b\u306b\u8d77\u52d5\u3059\u308b\u3068\u3001\u3053\u308c\u3089\u306f\u305d\u308c\u305e\u308c\u72ec\u7acb\u3057\u305f\u30d7\u30ed\u30bb\u30b9<\/strong>\u3067\u3059\u3002\u304a\u4e92\u3044\u3092\u95a2\u6570\u3068\u3057\u3066\u547c\u3073\u51fa\u3057\u305f\u308a\u306f\u3057\u307e\u305b\u3093\u3002<\/p>\n\n\n\n
      \u3067\u306f\u4f55\u304c\u7e4b\u3044\u3067\u3044\u308b\u306e\u304b\u3002\u524d\u56de\u51fa\u3066\u304d\u305f\u30c8\u30d4\u30c3\u30af\u3068\u30a2\u30af\u30b7\u30e7\u30f3<\/mark><\/strong>\u3067\u3059\u3002\u540c\u3058\u540d\u524d\u306e\u30c8\u30d4\u30c3\u30af\u306b publish \/ subscribe \u3057\u3066\u3044\u308b\u3001\u305f\u3060\u305d\u308c\u3060\u3051\u3067\u7e4b\u304c\u308a\u307e\u3059\u3002<\/p>\n\n\n\n
      \n\n\n<\/marker>\n<\/marker>\n<\/marker>\n<\/defs>\n\nROS 2 \u306e\u30b0\u30e9\u30d5 \u2500\u2500 \u540c\u3058\u540d\u524d\u3067 publish \/ subscribe \u3059\u308c\u3070\u3001\u305d\u308c\u3060\u3051\u3067\u7e4b\u304c\u308b<\/text>\n\nGazebo<\/text>\nROS 2 \u306f\u558b\u3089\u306a\u3044<\/text>\n\ngz \u306e\u901a\u4fe1<\/text>\n\nros_gz_bridge<\/text>\n\u7ffb\u8a33\u3059\u308b\u3060\u3051\u306e\u30ce\u30fc\u30c9<\/text>\n\n\n\/scan \/odom<\/text>\n\/clock \/tf<\/text>\n\/cmd_vel<\/text>\n\nSLAM<\/text>\n\u5730\u56f3\u3068\u81ea\u5df1\u4f4d\u7f6e<\/text>\n\n\n\/map \/tf<\/text>\n\/scan<\/text>\n\nRViz<\/text>\n\u898b\u308b\u3060\u3051<\/text>\n\n\u53d7\u3051\u53d6\u308b\u3060\u3051\u3067\u3001<\/text>\n\u81ea\u5206\u3067\u306f\u4f55\u3082\u51fa\u3055\u306a\u3044<\/text>\n\nNav2<\/text>\n\u7d4c\u8def\u3068\u901f\u5ea6<\/text>\n\n\n\/cmd_vel<\/text>\n\/map \/scan \/tf<\/text>\n\nAI\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8<\/text>\n\u8a00\u8449 \u2192 \u884c\u304d\u5148\u306e\u5ea7\u6a19<\/text>\n\n\u30a2\u30af\u30b7\u30e7\u30f3 NavigateToPose<\/text>\n\u9032\u6357\u3068\u7d50\u679c\u304c\u8fd4\u3063\u3066\u304f\u308b<\/text>\n\n\u51fa\u3059<\/text>\n\n\u53d7\u3051\u53d6\u308b<\/text>\n\n\u30a2\u30af\u30b7\u30e7\u30f3<\/text>\n<\/svg>\n
      \u56f39\uff1a\u5b9f\u969b\u306e\u914d\u7dda\u30024\u3064\u3068\u3082\u540c\u3058\u30b0\u30e9\u30d5\u306b\u3076\u3089\u4e0b\u304c\u3063\u3066\u3044\u308b\u3060\u3051\u3067\u3001\u76f4\u63a5\u306f\u547c\u3073\u5408\u3063\u3066\u3044\u306a\u3044<\/figcaption>\n<\/figure>\n\n\n\n
      \u3053\u306e\u56f3\u3067\u3042\u3089\u305f\u3081\u3066\u6c17\u3065\u3044\u305f\u306e\u306f\u3001Gazebo \u3060\u3051\u304c ROS 2 \u3092\u558b\u3089\u306a\u3044<\/mark><\/strong>\u3053\u3068\u3067\u3057\u305f\u3002Gazebo \u306b\u306f Gazebo \u72ec\u81ea\u306e\u901a\u4fe1\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n\n\n\n
      \u305d\u306e\u9699\u9593\u3092\u57cb\u3081\u308b\u306e\u304c ros_gz_bridge<\/code> \u3067\u3059\u3002\u7ffb\u8a33\u3057\u304b\u3057\u306a\u3044\u30ce\u30fc\u30c9\u30921\u500b\u631f\u3080<\/strong>\u3053\u3068\u3067\u3001ROS 2 \u5074\u304b\u3089\u306f\u666e\u901a\u306e\u30c8\u30d4\u30c3\u30af\u306b\u898b\u3048\u308b\u3088\u3046\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n
      \u5b9f\u969b\u306b\u79c1\u304c\u4f7f\u3063\u3066\u3044\u308b\u8d77\u52d5\u306f\u3053\u3093\u306a\u5f62\u3067\u3059\u3002\u30c8\u30d4\u30c3\u30af\u3054\u3068\u306b\u300c\u578b\u300d\u3068\u300c\u5411\u304d\u300d\u3092\u66f8\u3044\u3066\u6e21\u3057\u307e\u3059\u3002<\/p>\n\n\n\n
      ros2 run ros_gz_bridge parameter_bridge \\\n  '\/scan@sensor_msgs\/msg\/LaserScan[gz.msgs.LaserScan' \\\n  '\/cmd_vel@geometry_msgs\/msg\/Twist@gz.msgs.Twist'<\/code><\/pre>\n\n\n\n
      \n
      \u3053\u306e \u8a18\u53f7\u304c\u5411\u304d<\/mark><\/strong>\u3067\u3059\u3002[<\/code> \u306f Gazebo \u304b\u3089 ROS 2 \u3078\u306e\u7247\u65b9\u5411\u3001@<\/code> \u306f\u53cc\u65b9\u5411\u3002\u30bb\u30f3\u30b5\u306f\u7247\u65b9\u5411\u3001\u6307\u4ee4\u306f\u53cc\u65b9\u5411\u3001\u3068\u3044\u3046\u66f8\u304d\u5206\u3051\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n
      \u3053\u3053\u3092\u9593\u9055\u3048\u308b\u3068\u3001ros2 topic list<\/code> \u306b\u306f\u540d\u524d\u306f\u51fa\u308b\u306e\u306b\u3001\u4e2d\u8eab\u304c\u6c38\u9060\u306b\u6765\u307e\u305b\u3093<\/strong>\u3002\u30a8\u30e9\u30fc\u3082\u51fa\u306a\u3044\u306e\u3067\u3001\u539f\u56e0\u306b\u305f\u3069\u308a\u7740\u304f\u307e\u3067\u6642\u9593\u304c\u304b\u304b\u308a\u307e\u3057\u305f\u2026\u2026\u3002<\/p>\n<\/div><\/div>\n\n\n\n
      \u3082\u30461\u672c\u3001TF \u3068\u3044\u3046\u914d\u7dda\u304c\u3042\u308b<\/h3>\n\n\n\n
      \u56f3\u306e\u4e2d\u306b \/tf<\/code> \u3068\u3044\u3046\u30c8\u30d4\u30c3\u30af\u304c\u4f55\u5ea6\u304b\u51fa\u3066\u304d\u307e\u3057\u305f\u3002\u3053\u308c\u304c TF\uff08\u5ea7\u6a19\u5909\u63db\uff09<\/mark><\/strong>\u3067\u3001\u4f4d\u7f6e\u306e\u8a71\u3092\u3059\u308b\u3068\u304d\u306e\u5171\u901a\u8a9e\u306b\u3042\u305f\u308a\u307e\u3059\u3002<\/p>\n\n\n\n
      \u300c\u5730\u56f3\u306e (2.0, 1.0)\u300d\u3068\u300c\u30ed\u30dc\u30c3\u30c8\u306e\u524d\u65b92m\u300d\u3068\u300cLiDAR \u304b\u3089\u898b\u3066\u53f3\u659c\u3081\u524d\u300d\u306f\u3001\u5168\u90e8\u5225\u306e\u5ea7\u6a19\u7cfb<\/strong>\u306e\u8a00\u3044\u65b9\u3067\u3059\u3002TF \u306f\u3053\u308c\u3092\u76f8\u4e92\u306b\u5909\u63db\u3057\u307e\u3059\u3002<\/p>\n\n\n\n
      \/tf<\/code> \u306f1\u672c\u306e\u30c8\u30d4\u30c3\u30af\u3067\u3059\u304c\u3001\u8907\u6570\u306e\u30ce\u30fc\u30c9\u304c\u533a\u9593\u3092\u5206\u62c5\u3057\u3066<\/strong>\u6d41\u3057\u8fbc\u3093\u3067\u3044\u307e\u3059\u3002\u8ab0\u304c\u3069\u3053\u3092\u57cb\u3081\u308b\u304b\u304c\u6c7a\u307e\u3063\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n
      \n\n<\/marker><\/defs>\n\nmap<\/text>\n\u5730\u56f3\u306e\u539f\u70b9<\/text>\n\nSLAM \u304c\u51fa\u3059<\/text>\n\u30ba\u30ec\u306e\u88dc\u6b63\u3076\u3093<\/text>\n\nodom<\/text>\n\u8d70\u308a\u51fa\u3057\u305f\u5834\u6240<\/text>\n\n\u30aa\u30c9\u30e1\u30c8\u30ea\u304c\u51fa\u3059<\/text>\n\u8eca\u8f2a\u306e\u56de\u8ee2\u304b\u3089<\/text>\n\nbase_link<\/text>\n\u30ed\u30dc\u30c3\u30c8\u672c\u4f53<\/text>\n\n\n\nlaser<\/text>\nLiDAR \u306e\u4ed8\u304d\u4f4d\u7f6e<\/text>\n\ncamera<\/text>\n\u30ab\u30e1\u30e9\u306e\u4ed8\u304d\u4f4d\u7f6e<\/text>\n\u30ed\u30dc\u30c3\u30c8\u306e\u5f62\u3002\u52d5\u304b\u306a\u3044\u306e\u3067\u6700\u521d\u306b1\u56de\u51fa\u3059\u3060\u3051<\/text>\n\u3053\u306e\u9396\u304c1\u672c\u3067\u3082\u5207\u308c\u308b\u3068\u3001RViz \u306f\u4f55\u3082\u6620\u3055\u305a\u3001Nav2 \u306f\u30b4\u30fc\u30eb\u3092\u53d7\u3051\u53d6\u3089\u306a\u3044<\/text>\n<\/svg>\n
      \u56f310\uff1aTF \u306e\u9396\u30021\u672c\u306e\u30c8\u30d4\u30c3\u30af\u3092\u3001\u8907\u6570\u306e\u30ce\u30fc\u30c9\u304c\u533a\u9593\u3054\u3068\u306b\u5206\u62c5\u3057\u3066\u57cb\u3081\u3066\u3044\u308b<\/figcaption>\n<\/figure>\n\n\n\n
      SLAM \u304c\u57cb\u3081\u3066\u3044\u308b\u306e\u306f map<\/code> \u2192 odom<\/code> \u306e1\u533a\u9593\u3060\u3051<\/strong>\u3067\u3059\u3002SLAM \u306f\u300c\u30aa\u30c9\u30e1\u30c8\u30ea\u306e\u30ba\u30ec\u3076\u3093\u300d\u3092\u51fa\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n
      \n
      \u79c1\u306f\u3053\u3053\u3067\u3001\u6a5f\u4f53\u5074\u306e\u30ea\u30f3\u30af\u540d\u3068\u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb\u306e\u30d5\u30ec\u30fc\u30e0\u540d\u3092\u98df\u3044\u9055\u308f\u305b\u3066<\/mark><\/strong>\u3001\u9396\u3092\u5207\u3063\u3066\u3057\u307e\u3044\u307e\u3057\u305f\u3002RViz \u306f\u771f\u3063\u767d\u3001Nav2 \u306f\u30b4\u30fc\u30eb\u3092\u53d7\u3051\u53d6\u3089\u306a\u3044\u3002\u305d\u308c\u3067\u3044\u3066\u30a8\u30e9\u30fc\u306f\u51fa\u307e\u305b\u3093\u3002<\/p>\n\n\n\n
      \u602a\u3057\u3044\u3068\u601d\u3063\u305f\u3089 ros2 run tf2_tools view_frames<\/code> \u3067\u3059\u3002\u4eca\u305d\u3053\u306b\u3042\u308b\u9396\u304c PDF \u3067\u51fa\u3066\u304f\u308b<\/strong>\u306e\u3067\u3001\u3069\u3053\u3067\u5207\u308c\u3066\u3044\u308b\u304b\u4e00\u76ee\u3067\u5206\u304b\u308a\u307e\u3059\u3002<\/p>\n<\/div><\/div>\n\n\n\n
      \u305d\u3057\u3066 RViz \u306f\u3001\u3053\u306e\u914d\u7dda\u306b\u3076\u3089\u4e0b\u304c\u3063\u3066\u773a\u3081\u3066\u3044\u308b\u3060\u3051<\/strong>\u3067\u3059\u3002\u9589\u3058\u3066\u3082\u30ed\u30dc\u30c3\u30c8\u306f\u8d70\u308a\u7d9a\u3051\u307e\u3059\u3002\u30c7\u30d0\u30c3\u30b0\u4e2d\u306b\u6c17\u8efd\u306b\u958b\u3051\u9589\u3081\u3067\u304d\u308b\u306e\u306f\u3001\u3053\u306e\u69cb\u9020\u306e\u304a\u304b\u3052\u3067\u3057\u305f\u3002<\/p>\n\n\n\n
      4\u3064\u7e4b\u3050\u3068\u3001AI\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u306e\u4ed5\u4e8b\u306f\u3080\u3057\u308d\u6e1b\u308b<\/h2>\n\n\n\n
      4\u3064\u3092\u7e4b\u3050\u3068\u3001AI\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u5074\u306e\u4f5c\u308a\u3082\u5909\u308f\u308a\u307e\u3059\u3002<\/p>\n\n\n\n
      \u7d20\u6734\u306b\u4f5c\u308b\u3068\u3001AI\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u304c\u81ea\u5206\u3067 \/cmd_vel<\/code> \u3092\u51fa\u3059\u5f79\u3092\u5168\u90e8\u80cc\u8ca0\u3046\u3053\u3068\u306b\u306a\u308a\u307e\u3059\u3002LLM \u304c\u6c7a\u3081\u308b\u306e\u306f\u300c\u524d\u30782\u30e1\u30fc\u30c8\u30eb<\/strong>\u300d\u300c\u53f3\u307890\u5ea6<\/strong>\u300d\u3068\u3044\u3063\u305f\u3001\u3044\u307e\u5c45\u308b\u5834\u6240\u304b\u3089\u306e\u76f8\u5bfe\u7684\u306a\u52d5\u304d\u65b9<\/strong>\u3067\u3059\u3002<\/p>\n\n\n\n
      Nav2 \u304c\u5165\u308b\u3068\u3001\u305d\u3053\u306f\u5168\u90e8 Nav2 \u306e\u62c5\u5f53\u306b\u306a\u308a\u307e\u3059\u3002\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u304c\u3084\u308b\u3053\u3068\u306f \u8a00\u8449\u3092\u300c\u884c\u304d\u5148\u306e\u5ea7\u6a19\u300d\u306b\u7ffb\u8a33\u3057\u3066\u3001\u3042\u3068\u306f\u6295\u3052\u308b\u3060\u3051<\/mark><\/strong>\u3067\u3059\u3002<\/p>\n\n\n\n
      \n\n<\/marker><\/defs>\n\n\u300c\u5009\u5eab\u306e\u5165\u53e3\u307e\u3067\u884c\u3063\u3066\u300d<\/text>\n\n\n\u3042\u306a\u305f<\/text>\n\n\nAI\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8<\/text>\n\u8a00\u8449 \u2192 \u884c\u304d\u5148\u306e\u5ea7\u6a19<\/text>\n\u3053\u3053\u3092\u81ea\u5206\u3067\u4f5c\u308b<\/text>\n\n\u30a2\u30af\u30b7\u30e7\u30f3<\/text>\n\nNav2<\/text>\n\u7d4c\u8def\u30fb\u56de\u907f\u30fb\u30ea\u30ab\u30d0\u30ea<\/text>\n\u5730\u56f3\uff08SLAM\uff09\u3092\u4f7f\u3046<\/text>\n\n\/cmd_vel<\/text>\n\nGazebo<\/text>\n\u30ed\u30dc\u30c3\u30c8\u304c\u52d5\u304f<\/text>\n\nRViz \uff1d \u3053\u306e\u5168\u90e8\u3092\u6a2a\u304b\u3089\u773a\u3081\u3066\u3044\u308b<\/text>\n\u3069\u3046\u52d5\u304f\u304b\u3092\u6c7a\u3081\u308b\u306e\u306f\u3001\u3082\u3046 LLM \u306e\u4ed5\u4e8b\u3067\u306f\u306a\u3044<\/text>\n\n<\/circle>\n<\/circle>\n<\/circle>\n<\/g>\n<\/svg>\n
      \u56f311\uff1aNav2 \u3092\u631f\u3093\u3060\u3042\u3068\u306e\u69cb\u6210\u3002\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u306e\u8cac\u4efb\u7bc4\u56f2\u304c\u300c\u7ffb\u8a33\u300d\u307e\u3067\u72ed\u304f\u306a\u308b<\/figcaption>\n<\/figure>\n\n\n\n
      \u5165\u53e3\u306f\u30c6\u30ad\u30b9\u30c81\u672c<\/strong>\u306e\u307e\u307e\u3002\u5909\u308f\u308b\u306e\u306f\u3001\u305d\u306e\u5148\u3067\u8ab0\u304c\u4f55\u3092\u62c5\u5f53\u3059\u308b\u304b\u3060\u3051\u3067\u3059\u3002<\/p>\n\n\n\n
      ros2 topic pub --once \/agent\/instruction std_msgs\/String \\\n  \"{data: '\u5009\u5eab\u306e\u5165\u53e3\u307e\u3067\u884c\u3063\u3066'}\"<\/code><\/pre>\n\n\n\n
      \u5f79\u5272\u3092\u5206\u3051\u308c\u3070\u3001\u58ca\u308c\u305f\u3068\u304d\u306b\u3069\u3053\u304c\u60aa\u3044\u304b\u3082\u5206\u304b\u308a\u3084\u3059\u304f\u306a\u308a\u307e\u3059<\/strong>\u3002\u7d4c\u8def\u304c\u5909\u306a\u3089 Nav2\u3001\u5730\u56f3\u304c\u5909\u306a\u3089 SLAM\u3001\u5ea7\u6a19\u304c\u5909\u306a\u3089\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u3001\u3068\u3044\u3046\u5207\u308a\u5206\u3051\u304c\u3067\u304d\u308b\u306f\u305a\u3067\u3059\u3002<\/p>\n\n\n\n
      \u307e\u3068\u3081<\/h2>\n\n\n\n
        \n
      • Gazebo<\/strong>\uff1d\u8d70\u3089\u305b\u308b\u5834\u6240\u3002\u7269\u7406\u3082\u30bb\u30f3\u30b5\u3082\u4f5c\u3063\u3066\u304f\u308c\u308b\u306e\u3067\u3001\u4e0a\u4f4d\u306e\u30ce\u30fc\u30c9\u306f\u5b9f\u6a5f\u3068\u540c\u3058\u307e\u307e<\/strong>\u3067\u3044\u3044\u3002<\/li>\n\n
      • SLAM<\/strong>\uff1d\u5730\u56f3\u3068\u73fe\u5728\u5730\u3092\u540c\u6642\u306b\u4f5c\u308b\u3002\u51fa\u3066\u304f\u308b\u306e\u306f\u767d\u30fb\u9ed2\u30fb\u7070\u306e3\u5024\u306e\u30de\u30b9\u76ee<\/strong>\u3002\u4f5c\u3063\u305f\u3089\u4fdd\u5b58\u3057\u3066\u4f7f\u3044\u56de\u3059\u3002<\/li>\n\n
      • Nav2<\/strong>\uff1d\u30b4\u30fc\u30eb\u3092\u901f\u5ea6\u6307\u4ee4\u306b\u5909\u3048\u308b\u3002\u5927\u307e\u304b\u306a\u7d4c\u8def\uff08\u30b0\u30ed\u30fc\u30d0\u30eb\uff09\u3068\u76ee\u306e\u524d\u306e\u56de\u907f\uff08\u30ed\u30fc\u30ab\u30eb\uff09\u306e2\u6bb5\u69cb\u3048<\/strong>\u3002<\/li>\n\n
      • RViz<\/strong>\uff1d\u30b7\u30df\u30e5\u30ec\u30fc\u30bf\u3067\u306f\u306a\u304f\u30d3\u30e5\u30fc\u30a2<\/strong>\u3002\u30ed\u30dc\u30c3\u30c8\u306e\u982d\u306e\u4e2d\u3092\u6620\u3059\u306e\u3067\u3001\u5b9f\u7269\u3068\u306e\u30ba\u30ec\u304c\u305d\u306e\u307e\u307e\u30d0\u30b0\u306b\u306a\u308b\u3002<\/li>\n\n
      • \u30cf\u30de\u3063\u305f\u306e\u306f Gazebo \u306e\u65b0\u65e7\u6df7\u540c\u30fbuse_sim_time<\/code> \u306e\u4ed8\u3051\u5fd8\u308c\u30fbRViz \u306e Fixed Frame<\/mark><\/strong>\u3002\u5168\u90e8\u300c\u30a8\u30e9\u30fc\u304c\u51fa\u306a\u3044\u306e\u306b\u52d5\u304b\u306a\u3044\u300d\u7cfb\u3067\u3057\u305f\u3002<\/li>\n<\/ul>\n\n\n\n
        \u6b21\u56de\u306f\u3001\u3044\u3088\u3044\u3088\u3053\u308c\u3092\u5b9f\u969b\u306b\u52d5\u304b\u3057\u307e\u3059<\/strong>\u3002\u74b0\u5883\u3092\u7528\u610f\u3057\u3066\u3001\u5730\u56f3\u3092\u4f5c\u3063\u3066\u3001\u81ea\u7136\u8a00\u8a9e\u306e\u6307\u793a\u3060\u3051\u3067\u30ed\u30dc\u30c3\u30c8\u304c\u76ee\u7684\u5730\u307e\u3067\u81ea\u8d70\u3059\u308b\u3068\u3053\u308d\u307e\u3067\u3092\u3001\u624b\u9806\u3054\u3068\u66f8\u304f\u4e88\u5b9a\u3067\u3059\u3002<\/p>\n\n\n\n
        \u3053\u3053\u307e\u3067\u540d\u524d\u3060\u3051\u51fa\u3057\u3066\u304d\u305fAI\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u306e\u30ce\u30fc\u30c9\u3092\u5b9f\u969b\u306b\u3069\u3046\u7d44\u3080\u304b<\/strong>\u2014\u2014ROS 2 \u5074\u3092\u3069\u3046\u3044\u3046\u69cb\u6210\u306b\u3059\u308b\u306e\u304b\u3082\u3001\u305d\u3053\u3067\u4e00\u7dd2\u306b\u7d39\u4ecb\u3057\u307e\u3059\u3002<\/p>\n\n\n\n
        \u305f\u3076\u3093\u307e\u305f\u3001\u7d20\u76f4\u306b\u306f\u52d5\u3044\u3066\u304f\u308c\u306a\u3044\u3068\u601d\u3044\u307e\u3059\u2026\u2026\u3002\u304a\u697d\u3057\u307f\u306b\uff01<\/p>\n\n\n\n\n\n
        \n
        <\/div>\n<\/div>\n","protected":false},"excerpt":{"rendered":"","protected":false},"author":215,"featured_media":85328,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"_acf_changed":false,"content-type":"","footnotes":""},"categories":[985,1100],"tags":[],"class_list":["post-85323","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-ai-driven-dev","category-h-takeuchi"],"acf":[],"yoast_head":"\nAI\u30a8\u30fc\u30b8\u30a7\u30f3\u30c8\u3067ROS2\u3092\u52d5\u4f5c\u3055\u305b\u3066\u307f\u305f\u301c\uff11.SLAM ,NAV 2 ,Gazebo ,Rviz \u3068\u306f\u301c - Tech Blog\uff5c\u30af\u30ea\u30a8\u30fc\u30b7\u30e7\u30f3\u30e9\u30a4\u30f3<\/title>\n<meta name=\"description\" content=\"AI\u99c6\u52d5\u958b\u767a(AIDD), h-takeuchi |\u3053\u3093\u306b\u3061\u306f\u3001\u7af9\u5185 \u3067\u3059\u3002 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